# US 2006/0116849 A1 · Driving control apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2006/0116849 A1 - Document ID: US20060116849A1 - Status: Published application - Kind: A1 - Application number: 11/283,681 - Filed: 2005-11-22 - Published: 2006-06-01 - Earliest claimed: 2004-11-29 - Assignees: Fanuc Corporation - Inventors: Mitsuyuki Taniguchi; Hirofumi Kikuchi; Hiromichi Horiuchi - Web page: https://patentgrep.com/patent/US20060116849A1 ## CPC - G05B 19/4062: Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference - G05B 19/39: using a combination of the means covered by at least two of the preceding groups G05B19/21, G05B19/27 and G05B19/33 - G05B 2219/37388: Acceleration or deceleration, inertial measurement - G05B 2219/42066: Position and speed and acceleration and current feedback - G05B 2219/42321: Wrong direction or sign of measured value, eventually stop - G05B 2219/42329: Defective measurement, sensor failure - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A driving control apparatus that can judge whether there is any abnormality in the operation of an acceleration sensor as well as in the mounting direction thereof. The driving control apparatus which controls the operation of a driven part via a driving device is constructed to include an abnormality judging circuit which, based on acceleration information from the acceleration sensor, judges the presence or absence of an abnormality in the operation of the acceleration sensor, or the mounting thereof with respect to the driven part, in addition to a position sensor or velocity sensor which detects the position or velocity of the driven part and the acceleration sensor which detects the acceleration of the driven part separately from the position sensor or velocity sensor. When judging information supplied from the abnormality judging circuit indicates the presence of an abnormality, the operation of the driven part is controlled, without using the acceleration information from the acceleration sensor, based on the position or velocity detected by the position sensor or velocity sensor. ## Claims ### Claim 1 A driving control apparatus for controlling operation of a driven part via a driving device, comprising: position or velocity detecting means for detecting position or velocity of said driven part; acceleration detecting means, mounted on said driven part, for detecting acceleration of said driven part separately from said position or velocity detecting means; and judging means for judging, based on acceleration information from said acceleration detecting means, the presence or absence of an abnormality in the operation of said acceleration detecting means or the mounting thereof with respect to said driven part. ### Claim 2 (depends on 1) A driving control apparatus as claimed in claim 1, wherein said judging means is included in a signal processing circuit provided within a driving control apparatus main unit. ### Claim 3 (depends on 1) A driving control apparatus as claimed in claim 1, wherein said judging means is formed on the same circuit on which said acceleration detecting means is formed. ### Claim 4 (depends on 1) A driving control apparatus as claimed in claim 1, further comprising notifying means for notifying an operator by outputting information concerning said abnormality based on judging information supplied from said judging means. ### Claim 5 (depends on 1) A driving control apparatus as claimed in claim 1 wherein, when judging information from said judging means indicates the presence of an abnormality, the operation of said driven part is controlled, without using the acceleration information from said acceleration detecting means, based on the position or velocity detected by said position or velocity detecting means. ### Claim 6 (depends on 1) A driving control apparatus as claimed in claim 1 wherein, when judging information from said judging means indicates the presence of an abnormality, the operation of said driven part is stopped. ### Claim 7 (depends on 1) A driving control apparatus as claimed in claim 1, wherein said acceleration detecting means detects accelerations X, Y, and Z in three mutually perpendicular axes and said judging means judges that there is an abnormality if the value of any one of said accelerations X, Y, and Z is outside a predetermined range. ### Claim 8 (depends on 1) A driving control apparatus as claimed in claim 1, wherein said acceleration detecting means detects accelerations X, Y, and Z in three mutually perpendicular axes, and said judging means performs a calculation (X2+Y2+Z2)1/2 using the values of said accelerations, and judges that there is an abnormality if a value obtained from said calculation is outside a predetermined range. ### Claim 9 (depends on 1) A driving control apparatus as claimed in claim 1, wherein said acceleration detecting means detects accelerations X, Y, and Z in three mutually perpendicular axes, and said judging means performs a calculation X+Y+Z using the values of said accelerations, and judges that there is an abnormality if a value obtained from said calculation is outside a predetermined range. ### Claim 10 (depends on 1) A driving control apparatus as claimed in claim 1, wherein said judging means averages calculated values obtained by performing a prescribed calculation using output values of said acceleration detecting means over a predetermined period of time, and judges that there is an abnormality if an average value obtained by said averaging is outside a predetermined range. ### Claim 11 (depends on 1) A driving control apparatus as claimed in claim 1, wherein said judging means judges that there is an abnormality if a condition in which a value obtained by performing a prescribed calculation using output values of said acceleration detecting means is outside a predetermined range has continued for more than a predetermined length of time.